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| Information fusion technology of INS／GNSS based on fault state detection |
| Navigation Research Center, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu 210016, China) |
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Abstract To improve the reliability and accuracy of INS／GNSS integrated navigation system, an information fusion scheme of SINS／GPS／Galileo／RDSS integrated navigation system was designed, and the chi-square testing method based on probability distribution was adopted to improve the fault tolerance and the reliability of the system. On this condition, a new self-adaption distribution algorithm based on the fault state detection was adopted, and the model of navigation system was established. The states function and measurement equation were given. This new algorithm was simulated and compared with the traditional distribution algorithm of Carlson. The results show that the new algorithm can adjust the distribution coefficients of the real-time system. The system errors are effectively restrained by this algorithm, especially under the condition of high maneuvering, and the precisions of navigation output such as position, velocity and location are improved to some degree.
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2011, Vol. 32 
